Inverted pendulum vehicle

Abstract

A tire angular velocity controller ( 211 ) is input with a difference between a target value of a rotational angular velocity of 0 for main wheels ( 11 ) and a rotational angular velocity of the main wheels ( 11 ), which is a differential value of a signal output from a main wheels rotary encoder ( 26 ). The tire angular velocity controller ( 211 ) calculates an inclination angle for the main body ( 10 ) that will cause the difference to become zero. In a second control mode, the calculated inclination angle is used as a target inclination angle and the difference between this target inclination angle and the inclination angle of the main body ( 10 ) at the present time input from an inclination angle sensor ( 20 ) is input to a main body inclination angle controller ( 212 ).

The invention claimed is: 
     
       1. A moving body comprising:
 a wheel; 
 a main body for supporting the wheel rotatably in a pitch direction; 
 a driving control unit for controlling driving of the wheel; 
 angular change detection means for detecting an angular change of the main body in the pitch direction; 
 rotational angle detection means for detecting a rotational angle of the wheel; and 
 a storage unit for storing a program implementing a first control mode in which rotation of the wheel is controlled on the basis of an output of the angular change detection means such that the angular change of the main body becomes zero and such that an angle of the main body with respect to a vertical direction becomes a first angle, and a second control mode in which rotation of the wheel is controlled on the basis of an output of the rotational angle detection means such that a change in the rotational angle of the wheel becomes zero, 
 wherein the driving control unit implements the first control mode and the second control mode by reading out and expanding the program, and 
 the driving control unit includes switching means for switching between the first control mode and the second control mode, 
 wherein a part of the main body includes touch detection means for detecting whether a person is touching the main body, 
 wherein the switching means switches between the first control mode and the second control mode in accordance with an output of the touch detection means, and switches from the second control mode to the first control mode when a user is touching the grip. 
 
     
     
       2. The moving body according to  claim 1 , further comprising
 gradient detection means for detecting a ground gradient, 
 wherein furthermore a torque compensating for a gravitational torque due to the ground gradient detected by the gradient detection means is applied in the second control mode. 
 
     
     
       3. The moving body according to  claim 1 , further comprising
 gradient detection means for detecting a ground gradient, 
 wherein furthermore an angle of the main body to the vertical direction compensating for the gravitational torque due to the ground gradient detected by the gradient detection means is calculated and the first angle is corrected in the second control mode. 
 
     
     
       4. The moving body according to  claim 1 , further comprising
 gradient detection means for detecting a ground gradient, 
 wherein furthermore a torque compensating for a gravitational torque due to the ground gradient detected by the gradient detection means is applied in the second control mode. 
 
     
     
       5. The moving body according to  claim 1 , further comprising
 gradient detection means for detecting a ground gradient, 
 wherein furthermore an angle of the main body to the vertical direction compensating for the gravitational torque due to the ground gradient detected by the gradient detection means is calculated and the first angle is corrected in the second control mode. 
 
     
     
       6. The moving body according to  claim 1 , the switching means switches from the first control mode to the second control mode when the user is not touching the grip. 
     
     
       7. The moving body according to  claim 1 , the switching means switches from the second control mode to the first control mode when the user is touching the grip and with a condition where an inclination angle of the main body is within a certain range.